Note 2 - Contracts With Customers - Disaggregation of Revenue (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2020	Mar. 31, 2019
Revenue	$ 33,860	$ 31,480
Transferred over Time [Member] \| Subscription Services [Member]
Revenue	30,421	27,913
Transferred over Time [Member] \| Fixed, Non-subscription Services [Member]
Revenue	517	534
Transferred over Time [Member] \| Unit Price Services [Member]
Revenue	1,826	2,033
Transferred at Point in Time [Member] \| Service [Member]
Revenue	$ 1,096	$ 1,000

Amount, excluding tax collected from customer, of revenue from satisfaction of performance obligation by transferring promised good or service to customer. Tax collected from customer is tax assessed by governmental authority that is both imposed on and concurrent with specific revenue-producing transaction, including, but not limited to, sales, use, value added and excise.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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Reference 2: http://www.xbrl.org/2003/role/disclosureRef
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+ Details